diff --git a/modules/planning/tasks/BUILD b/modules/planning/tasks/BUILD
index 8b650305a97363df12e714787d2e0648b1de3e4a..3ef5304d945ca331eb3d288bbd6843d22ba6739f 100644
--- a/modules/planning/tasks/BUILD
+++ b/modules/planning/tasks/BUILD
@@ -37,6 +37,7 @@ cc_library(
         ":task",
         "//modules/planning/proto:planning_config_proto",
         "//modules/planning/tasks/deciders:decider",
+        "//modules/planning/tasks/deciders:path_assessment_decider",
         "//modules/planning/tasks/deciders:path_bounds_decider",
         "//modules/planning/tasks/optimizers/dp_poly_path:dp_poly_path_optimizer",
         "//modules/planning/tasks/optimizers/dp_st_speed:dp_st_speed_optimizer",
diff --git a/modules/planning/tasks/task_factory.cc b/modules/planning/tasks/task_factory.cc
index 6d91ed71fb3337ce63e8d070ce3b1e4f139af4e6..e461eebd54aa85254813755d087d6f84cf3df4e2 100644
--- a/modules/planning/tasks/task_factory.cc
+++ b/modules/planning/tasks/task_factory.cc
@@ -27,6 +27,7 @@
 #include "modules/planning/tasks/deciders/decider_rule_based_stop.h"
 #include "modules/planning/tasks/deciders/open_space_fallback_decider.h"
 #include "modules/planning/tasks/deciders/open_space_roi_decider.h"
+#include "modules/planning/tasks/deciders/path_assessment_decider.h"
 #include "modules/planning/tasks/deciders/path_bounds_decider.h"
 #include "modules/planning/tasks/deciders/side_pass_path_decider.h"
 #include "modules/planning/tasks/deciders/side_pass_safety.h"
@@ -142,6 +143,10 @@ void TaskFactory::Init(const PlanningConfig& config) {
                          [](const TaskConfig& config) -> Task* {
                            return new OpenSpaceFallbackDecider(config);
                          });
+  task_factory_.Register(TaskConfig::PATH_ASSESSMENT_DECIDER,
+                         [](const TaskConfig& config) -> Task* {
+                           return new PathAssessmentDecider(config);
+                         });
   for (const auto& default_task_config : config.default_task_config()) {
     default_task_configs_[default_task_config.task_type()] =
         default_task_config;